高速自适应双稳态折纸软体夹持器设计与分析  

Design and Analyse of a High-Speed Adaptive Bistable Origami Soft Gripper

作　　者：张长军[1,2] 杜海彬[1] 郭山国[1] 杨辉 马俊 张勇[1,2] ZHANG Changjun;DU Haibin;GUO Shanguo;YANG Hui;MA Jun;ZHANG Yong(Department of Mechanical Engineering,Hebei Institute of Mechanical and Electrical Technology,Xingtai 054000,China;Xingtai Advanced Rolling Intelligent Equipment Technology Innovation Center,Hebei Institute of Mechanical and Electrical Technology,Xingtai 054000,China;School of Mechanical Engineering and Automation,Beihang University,Beijing 100083,China)

机构地区：[1]河北机电职业技术学院机械工程系,邢台054000 [2]河北机电职业技术学院邢台市先进轧制智能装备技术创新中心,邢台054000 [3]北京航空航天大学机械工程及自动化学院,北京100083

出　　处：《组合机床与自动化加工技术》2024年第9期57-60,66,共5页Modular Machine Tool & Automatic Manufacturing Technique

基　　金：河北省高等学校科学技术研究项目(Z2019098);河北机电职业技术学院教科研规划项目自然重点项目(ZD22003);国家自然科学基金资助项目(62003014)。

摘　　要：提出了一种单顶点多折痕(single-vertex and multi-crease,SVMC)的双稳态折纸软体夹持器,具有结构简单、成本低、变形速度快、承载能力强等优点,有效改善了传统模型响应速度慢、夹持效率低等缺陷。该模型基于水弹结构建立,利用球面三角形余弦定理分析了折痕角度之间的关系并建立运动学方程;同时借助扭簧模型探究变形过程中的势能转化规律。分析了折痕长度与初始角度对能力存储和释放过程的影响,并以此为基础优化了模型结构参数。实验结果表明,当受到2.6 N的外部触发力时,软体夹持器可在61 ms内完成从外展姿态到内缩状态的变化,实现对目标表面的快速包络;同时,借助线绳驱动提供更大的夹紧力,完成对目标的高效稳定抓取。此模型可广泛应用于复杂轮廓目标抓取和快速食品分拣领域。In this paper,a bistable origami soft gripper based on a single-vertex and multi-crease(SVMC)structure is proposed.It has the advantages of simple structure,low cost,high deformation speed and strong bearing capacity,and can effectively improve the defects of slow response speed and low clamping efficiency in traditional models.The origami model is established through a waterbomb pattern,and the cosine theorem of a spherical triangle is applied to analyse the relationship between the crease angles and establish the kinematic equations.With the help of the torsion spring model,the potential energy equations in the deformation process of the model are established,and the optimization of the model is completed by analysing in detail the influence of the crease length and the initial angle on the process of storing energy and releasing energy.The experimental results show that when subjected to an external trigger force of 2.6 N,the soft body gripper can change from a spreading attitude to a contracted state within 61 ms,realizing the rapid envelopment of the target surface.At the same time,with the help of the rope drive provides a larger clamping force,to complete the efficient and stable grasping of the target.It can be widely used in the fields of complex contour object grasping and rapid food sorting.

关 键 词：折纸结构 双稳态 软体夹持器 快速响应抓取 

分 类 号：TH165[机械工程—机械制造及自动化] TG659[金属学及工艺—金属切削加工及机床]